| 金琦淳， 任俊， 袁明新， 王琪， 张金铮.复杂竞赛任务中的自动分拣搬运机器人系统设计[J].轻工机械,2019,37(2):17-23 |
| 复杂竞赛任务中的自动分拣搬运机器人系统设计 |
| Design of Automatic Sorting and Handling Robot System in Complex Competition Tasks |
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| DOI：10.3969/j.issn.1005 2895.2019.02.004 |
| 中文关键词: 分拣搬运机器人 STM32F103C8T6单片机 灰度识别 颜色识别 五自由度机械臂 |
| 英文关键词:sorting and handling robot STM32 MCU grayscale recognition color recognition five DOF robotic arm |
| 基金项目:2017年教育部产学合作协同育人项目（201701077003）。 |
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| 中文摘要: |
| 为了实现仓库中多重目标的复杂搬运及堆垛任务，设计了一款光电分拣搬运机器人。该分拣搬运机器人以STM32F103C8T6
单片机为主控芯片，采用灰度传感器SEN1595识别地面标识，通过颜色传感器GY 33识别物料颜色；机械臂与末端夹取机构利用PDI 6221MG舵机驱动五自由度
小型机械臂，在保持末端处于垂直状态下，平稳抓取物料并存放至搬运车腹部的中心转盘内；仓储分拣机构通过PDI 6225MG 300舵机驱动中心转盘转动至5个
档位；采用LV8731细分器控制步进电机MG42S1，驱动车体行进至目标堆垛区域；通过机械臂夹取转盘内的物料，结合堆垛辅助机构完成堆垛任务。在搬运工程赛
项实验平台任务中，系统测试成功率达96%，满足使用要求。通过该分拣搬运系统可提高分拣运输自动化、智能化程度，改善物流仓储工作中人工依赖性较高的
现状。 |
| 英文摘要: |
| A photoelectric robotic system was designed to realize the complex handling and stacking tasks of multi objects in warehouse. The single chip
STM32 MCU was adopted as the main control chip in this robotic system. The grayscale sensor SEN1595 was used to identify the ground mark and the color sensor GY 33 was used to
recognize the material color. The robot arm and the end gripping mechanism based on a small arm of five degree of freedom was servo driven by the PDI 6221MG. While the end was
kept in a vertical state, the material was grasped smoothly and stored into the center turntable which is inside the carrier. The sorter center turntable was servo driven by
PDI 6225MG 300 rotating to five different gears. The stepper motor MG42S1 was controlled by the interpolator LV8731 to drive the vehicle body to the target stacking area. The
material in the turntable was picked up by the mechanical arm and the stacking task was completed by stacking auxiliary machine. In a test task of goods handling, the success rate of the
system test reached 96%, which meets the requirements of the use. The automation and intelligent degree of the sorting and transportation were improved through the designed robotic
system，the status of high manual dependence in logistics and warehousing is improved as well. |
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